Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973687
Xiujuan Zheng, Huaiyu Wu, Lei Cheng, Yu-li Zhang
This paper addresses the formation coordinated control problem of nonholonomic mobile robots in obstacles environment. Based on each robot formation feedback between itself and its virtual structure and artificial potential field method, a decentralized controller is designed to maintain the formation to effectively track the target with desired velocities and avoid collisions. The formation control stability is proved with Lyapunov stability theory as well. Finally, the validity of the proposed formation controller is demonstrated with experiment simulation results in the case of six followers.
{"title":"Multiple nonholonomic mobile robots formation coordinated control in obstacles environment","authors":"Xiujuan Zheng, Huaiyu Wu, Lei Cheng, Yu-li Zhang","doi":"10.1109/ICMIC.2011.5973687","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973687","url":null,"abstract":"This paper addresses the formation coordinated control problem of nonholonomic mobile robots in obstacles environment. Based on each robot formation feedback between itself and its virtual structure and artificial potential field method, a decentralized controller is designed to maintain the formation to effectively track the target with desired velocities and avoid collisions. The formation control stability is proved with Lyapunov stability theory as well. Finally, the validity of the proposed formation controller is demonstrated with experiment simulation results in the case of six followers.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131651634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973748
Jin Guo, Ji-feng Zhang, Yanlong Zhao
This paper studies the adaptive tracking control for systems with quantized output observations and one unknown parameter. A projection algorithm is proposed for parameter identification, based on which an adaptive control law is designed via the certainty equivalence principle. By use of the conditional expectation of the quantized observation with respect to the estimates, it is shown that the identification algorithm is both almost surely and mean square convergent, the closed-loop system is stable, and the adaptive tracking control is asymptotically optimal.
{"title":"Adaptive tracking control with quantized output observations and single unknown parameter","authors":"Jin Guo, Ji-feng Zhang, Yanlong Zhao","doi":"10.1109/ICMIC.2011.5973748","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973748","url":null,"abstract":"This paper studies the adaptive tracking control for systems with quantized output observations and one unknown parameter. A projection algorithm is proposed for parameter identification, based on which an adaptive control law is designed via the certainty equivalence principle. By use of the conditional expectation of the quantized observation with respect to the estimates, it is shown that the identification algorithm is both almost surely and mean square convergent, the closed-loop system is stable, and the adaptive tracking control is asymptotically optimal.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133916755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973718
He Huang, Yucheng Wei, Xiaofan Wang
Almost all existing social learning models assume that there is only one type of agents in the society in order to avoid identification problem. In this work, we assume that there are various types of agents according to the communities they locate in. We design the rule of weight adjustment and testify that the updating rule with weight adjustment ensures learning on the whole social network. Furthermore, we show that how convergence speed is influenced by two updating-relevant parameters, and present instruction on how to attain the optimal social learning efficiency.
{"title":"Social learning on networks with community structure","authors":"He Huang, Yucheng Wei, Xiaofan Wang","doi":"10.1109/ICMIC.2011.5973718","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973718","url":null,"abstract":"Almost all existing social learning models assume that there is only one type of agents in the society in order to avoid identification problem. In this work, we assume that there are various types of agents according to the communities they locate in. We design the rule of weight adjustment and testify that the updating rule with weight adjustment ensures learning on the whole social network. Furthermore, we show that how convergence speed is influenced by two updating-relevant parameters, and present instruction on how to attain the optimal social learning efficiency.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130728085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973722
Y. Xiao, C. Zhang, X. Ge, J. N. Sun, X. Wang
In hard disk drives (HDDs), head skew error among multiple heads is pre-calibrated during manufacturing process. Due to environmental change or non-operating shock, additional head skew errors across stroke may be resulted in. In this paper, a reliable recalibration strategy of DC head skew error during servo startup is proposed, where a sector-dependent head-switching scheme for avoidance of wrong calibration is developed. Test results demonstrate its effectiveness to enhance drive performance post non-operating shock.
{"title":"Reliable recalibration of DC head skew in hard disk drives","authors":"Y. Xiao, C. Zhang, X. Ge, J. N. Sun, X. Wang","doi":"10.1109/ICMIC.2011.5973722","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973722","url":null,"abstract":"In hard disk drives (HDDs), head skew error among multiple heads is pre-calibrated during manufacturing process. Due to environmental change or non-operating shock, additional head skew errors across stroke may be resulted in. In this paper, a reliable recalibration strategy of DC head skew error during servo startup is proposed, where a sector-dependent head-switching scheme for avoidance of wrong calibration is developed. Test results demonstrate its effectiveness to enhance drive performance post non-operating shock.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131250671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973770
Y. Jiang, Yuanyuan Zou, Y. Niu
In this paper, explicit model predictive control (MPC) schemes for discrete-time linear-invariant multi-rate systems with constraints on inputs and states are studied. The optimization problem of multi-rate predictive control systems can be formulated by solving a multiparametric linear program (mp-LP), and the explicit state feedback control laws are developed. Further, based on the closed-loop multi-rate piecewise affine (PWA) structure, stability analysis is presented by linear matrix inequality (LMI). The simulation results show the effectiveness of the explicit MPC for multi-rate system.
{"title":"Explicit MPC for multi-rate control systems","authors":"Y. Jiang, Yuanyuan Zou, Y. Niu","doi":"10.1109/ICMIC.2011.5973770","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973770","url":null,"abstract":"In this paper, explicit model predictive control (MPC) schemes for discrete-time linear-invariant multi-rate systems with constraints on inputs and states are studied. The optimization problem of multi-rate predictive control systems can be formulated by solving a multiparametric linear program (mp-LP), and the explicit state feedback control laws are developed. Further, based on the closed-loop multi-rate piecewise affine (PWA) structure, stability analysis is presented by linear matrix inequality (LMI). The simulation results show the effectiveness of the explicit MPC for multi-rate system.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115770758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973716
Shaocheng Qu, Qinqin Wang, Li Wang
Studies on temporal statistics of human behavior not only contribute to a profound understanding of complexity of socio-economic system and human beings, but they are also crucial for better resource allocation and pricing plans for phone companies, to improve inventory and service allocation in both online and street retail. In recent years, some statistical research on human correspondence has proven that the inter-event time distribution satisfies a power law, but the judgment for scaling exponent is still controversial. In this paper, we collect communications data from Sui Gu and Van Gogh and find the inter-event time distribution fits a power law with exponent 1.5, which is in accordance with Barabási's conclusion. In addition, the inter-event time distribution about two men's letters for 5 consecutive years also follows Power-law distribution with the same exponent.
{"title":"The statistical research of human dynamics on correspondence","authors":"Shaocheng Qu, Qinqin Wang, Li Wang","doi":"10.1109/ICMIC.2011.5973716","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973716","url":null,"abstract":"Studies on temporal statistics of human behavior not only contribute to a profound understanding of complexity of socio-economic system and human beings, but they are also crucial for better resource allocation and pricing plans for phone companies, to improve inventory and service allocation in both online and street retail. In recent years, some statistical research on human correspondence has proven that the inter-event time distribution satisfies a power law, but the judgment for scaling exponent is still controversial. In this paper, we collect communications data from Sui Gu and Van Gogh and find the inter-event time distribution fits a power law with exponent 1.5, which is in accordance with Barabási's conclusion. In addition, the inter-event time distribution about two men's letters for 5 consecutive years also follows Power-law distribution with the same exponent.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116164152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973736
Hai-Lin Liu, G. Tang, Shiyuan Han
This paper considers the optimal control problem of a class of linear time-varying systems with multiple time-delays. A novel design approach to the optimal control law is proposed. By constructing a new state vector, the original system model and the performance index are simplified to equivalent ones without time-delay. So the infinite dimension problem of optimal control for systems with time-delays is avoided. The optimal control law is found by solving a matrix differential equation instead of a two-point boundary value problem, Simulation results demonstrate the effectiveness of the optimal control approach.
{"title":"Optimal control for linear time-varying systems with multiple time-delays","authors":"Hai-Lin Liu, G. Tang, Shiyuan Han","doi":"10.1109/ICMIC.2011.5973736","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973736","url":null,"abstract":"This paper considers the optimal control problem of a class of linear time-varying systems with multiple time-delays. A novel design approach to the optimal control law is proposed. By constructing a new state vector, the original system model and the performance index are simplified to equivalent ones without time-delay. So the infinite dimension problem of optimal control for systems with time-delays is avoided. The optimal control law is found by solving a matrix differential equation instead of a two-point boundary value problem, Simulation results demonstrate the effectiveness of the optimal control approach.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120940159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973674
A. Zhu-Feng, B. Zhu-WeiHua, C. Kong-XiangZhen, D. Peng-ji, E. Lin-BiHui
Based on the finite element analysis with centered finite difference, this paper focuses on the underwater explosives, and the response of outer side armor of the ship under its impact. Investigating the linear placed cartridge Dynamite Explosion on different positions at the same depth in the water in the course of the study. And got the local displacement of ship plate and local stress and strain increase with time changes, the study gives the relationship between certain amount of Local maximum displacement of the armored ship and center of the explosion to the ship's side. The results show that: ALE method is applicable to solve the explosion problem in the Solid-fluid coupling which can better simulate and forecast the structure response under the nonlinear dynamic of blast.
{"title":"Numerical simulation of local response of ship in underwater explosive shock","authors":"A. Zhu-Feng, B. Zhu-WeiHua, C. Kong-XiangZhen, D. Peng-ji, E. Lin-BiHui","doi":"10.1109/ICMIC.2011.5973674","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973674","url":null,"abstract":"Based on the finite element analysis with centered finite difference, this paper focuses on the underwater explosives, and the response of outer side armor of the ship under its impact. Investigating the linear placed cartridge Dynamite Explosion on different positions at the same depth in the water in the course of the study. And got the local displacement of ship plate and local stress and strain increase with time changes, the study gives the relationship between certain amount of Local maximum displacement of the armored ship and center of the explosion to the ship's side. The results show that: ALE method is applicable to solve the explosion problem in the Solid-fluid coupling which can better simulate and forecast the structure response under the nonlinear dynamic of blast.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124517853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973730
Huiliang Shang, Jichuan Li, Qi Cai, Wenjie Dong
This paper presents an approach to graph isomorphism identification. The approach is an optimized version of the circuit simulation method, which we proposed in one previous paper. Both the optimized and the original methods solve the graph isomorphism problem through circuit modeling and simulation. The simulation result, a series of node voltages, is taken as the identification index for a graph and isomorphism is determined by comparing the indices of two graphs. In general, circuit simulation needs a reference node. In the original method, each vertex takes turns to serve as reference, which leads to inconvenience and complexity in computation; in the optimized version, an extra vertex is added to the graph to work as a reference node in the circuit, which simplifies computation and the form of identification index, thus enhancing the efficiency. Both methods are tested on a large number of random undirected graphs generated by the computer and the experiment result shows that the runtime of the optimized method is much lower than that of the original one.
{"title":"An optimized algorithm for the identification of isomorphic undirected graphs","authors":"Huiliang Shang, Jichuan Li, Qi Cai, Wenjie Dong","doi":"10.1109/ICMIC.2011.5973730","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973730","url":null,"abstract":"This paper presents an approach to graph isomorphism identification. The approach is an optimized version of the circuit simulation method, which we proposed in one previous paper. Both the optimized and the original methods solve the graph isomorphism problem through circuit modeling and simulation. The simulation result, a series of node voltages, is taken as the identification index for a graph and isomorphism is determined by comparing the indices of two graphs. In general, circuit simulation needs a reference node. In the original method, each vertex takes turns to serve as reference, which leads to inconvenience and complexity in computation; in the optimized version, an extra vertex is added to the graph to work as a reference node in the circuit, which simplifies computation and the form of identification index, thus enhancing the efficiency. Both methods are tested on a large number of random undirected graphs generated by the computer and the experiment result shows that the runtime of the optimized method is much lower than that of the original one.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127142566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-26DOI: 10.1109/ICMIC.2011.5973763
Quan-shan Li, Liulin Cao, Lideng Pan, Xiaolin Lin, J. Cui
In this work, a novel algorithm for the self-tuning PID parameters by using process operational data is proposed. A feasible data set is achieved on the basis of dynamic characteristic of PID control loop. With defined ε-insensitive loss function and identification confidence function, the valid data set for model identification is selected from the feasible data set. The valid data set is used to model process objects and then a PID parameters tuning method is given which has a multiple models structure. By using developed optimal stochastic Luus-Jaakola algorithm, an optimized PID controller is obtained which has a perfect effect for all the models. The work of the algorithm does not require staff participation, and the obtained PID parameters can be directly applied to the control loop without a further adjustment. This algorithm has been used in many production plants successfully, and produced satisfactory results. The actual results show that this is a practical algorithm of PID parameter tuning with obvious advantages of simple use and convenient promotion.
{"title":"Self-tuning of PID controller based on process operational data","authors":"Quan-shan Li, Liulin Cao, Lideng Pan, Xiaolin Lin, J. Cui","doi":"10.1109/ICMIC.2011.5973763","DOIUrl":"https://doi.org/10.1109/ICMIC.2011.5973763","url":null,"abstract":"In this work, a novel algorithm for the self-tuning PID parameters by using process operational data is proposed. A feasible data set is achieved on the basis of dynamic characteristic of PID control loop. With defined ε-insensitive loss function and identification confidence function, the valid data set for model identification is selected from the feasible data set. The valid data set is used to model process objects and then a PID parameters tuning method is given which has a multiple models structure. By using developed optimal stochastic Luus-Jaakola algorithm, an optimized PID controller is obtained which has a perfect effect for all the models. The work of the algorithm does not require staff participation, and the obtained PID parameters can be directly applied to the control loop without a further adjustment. This algorithm has been used in many production plants successfully, and produced satisfactory results. The actual results show that this is a practical algorithm of PID parameter tuning with obvious advantages of simple use and convenient promotion.","PeriodicalId":210380,"journal":{"name":"Proceedings of 2011 International Conference on Modelling, Identification and Control","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128772999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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